To provide a technique that can recognize a road shape.SOLUTION: A road shape recognition device 110 mounted in a vehicle 10 including a peripheral sensor 120 includes: a peripheral information recognition unit 111 capable of recognizing, based on outputs of the peripheral sensor, two or more pieces of peripheral information on respective shapes of compartment lines of one or more roads, respective shapes of one or more road side items, and respective movement trajectories of one or more other vehicles; a reliability setting unit 112 configured to set a reliability of each of the two or more pieces of peripheral information; a point sequence setting unit 113 configured to set, based on the two or more pieces of peripheral information and the reliability, the sequence of points indicating the shape of the road on which the vehicle is traveling; and an output unit 114 configured to output the sequence of points. The point sequence setting unit gradually sets the sequence of points from a location at a relative position determined in advance to the vehicle toward a distant location and sets a subsequent point based on the amount of shape variation that is the amount of shape variation indicated by the peripheral information and is determined for each section including a predetermined distance and based on a location at an ultimately-set point of the sequence of points.SELECTED DRAWING: Figure 1
【課題】道路形状を認識できる技術を提供する。【解決手段】周辺センサ120を有する車両10に搭載される道路形状認識装置110は、周辺センサの出力に基づいて、道路の1以上の区画線のそれぞれの形状と、1以上の路側物のそれぞれの形状と、1以上の他車両のそれぞれの移動軌跡とのうちの2つ以上の周辺情報を認識できる周辺情報認識部111と、周辺情報のそれぞれの信頼度を設定する信頼度設定部112と、2つ以上の周辺情報と信頼度とに基づいて、車両が走行している道路の形状を表す点列を設定する点列設定部113と、点列を出力する出力部114と、を備える。点列設定部は、車両に対して予め定められた相対位置にある地点から、遠方に向かって段階的に点列を設定し、周辺情報が表す形状の変化量であって、予め定められた距離を有する区間ごとに決定される形状変化量と、点列のうち最後に設定した点の位置と、に基づき、次の点を設定する。【選択図】図1
ROAD SHAPE RECOGNITION DEVICE
道路形状認識装置
2022-01-06
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
ROAD SHAPE RECOGNITION DEVICE AND ROAD SHAPE RECOGNITION METHOD
European Patent Office | 2021
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